OpenRaiser/Intern-Atlas huggingface dataset:
Toddlers' Active Gaze Behavior Supports Self-Supervised Object Learning
Venue: arXiv cs.CV 2025
Year: 2025

Toddlers learn to recognize objects from different viewpoints with almost no supervision. During this learning, they execute frequent eye and head movements that shape their visual experience. It is presently unclear if and how these behaviors contribute to toddlers' emerging object recognition abilities. To answer this question, we here combine head-mounted eye tracking during dyadic play with unsupervised machine learning. We approximate toddlers' central visual field experience by cropping image regions from a head-mounted camera centered on the current gaze location estimated via eye tracking. This visual stream feeds an unsupervised computational model of toddlers' learning, which constructs visual representations that slowly change over time. Our experiments demonstrate that toddlers' gaze strategy supports the learning of invariant object representations. Our analysis also shows that the limited size of the central visual field where acuity is high is crucial for this. Overall, our work reveals how toddlers' gaze behavior may support their development of view-invariant object recognition.
Unsupervised detection of semantic correlations in big data
Venue: arXiv cs.LG 2025
Year: 2025

In real-world data, information is stored in extremely large feature vectors. These variables are typically correlated due to complex interactions involving many features simultaneously. Such correlations qualitatively correspond to semantic roles and are naturally recognized by both the human brain and artificial neural networks. This recognition enables, for instance, the prediction of missing parts of an image or text based on their context. We present a method to detect these correlations in high-dimensional data represented as binary numbers. We estimate the binary intrinsic dimension of a dataset, which quantifies the minimum number of independent coordinates needed to describe the data, and is therefore a proxy of semantic complexity. The proposed algorithm is largely insensitive to the so-called curse of dimensionality, and can therefore be used in big data analysis. We test this approach identifying phase transitions in model magnetic systems and we then apply it to the detection of semantic correlations of images and text inside deep neural networks.
CleAR: Robust Context-Guided Generative Lighting Estimation for Mobile Augmented Reality
Venue: arXiv cs.CV 2025
Year: 2025

High-quality environment lighting is essential for creating immersive mobile augmented reality (AR) experiences. However, achieving visually coherent estimation for mobile AR is challenging due to several key limitations in AR device sensing capabilities, including low camera FoV and limited pixel dynamic ranges. Recent advancements in generative AI, which can generate high-quality images from different types of prompts, including texts and images, present a potential solution for high-quality lighting estimation. Still, to effectively use generative image diffusion models, we must address two key limitations of content quality and slow inference. In this work, we design and implement a generative lighting estimation system called CleAR that can produce high-quality, diverse environment maps in the format of 360° HDR images. Specifically, we design a two-step generation pipeline guided by AR environment context data to ensure the output aligns with the physical environment's visual context and color appearance. To improve the estimation robustness under different lighting conditions, we design a real-time refinement component to adjust lighting estimation results on AR devices. Through a combination of quantitative and qualitative evaluations, we show that CleAR outperforms state-of-the-art lighting estimation methods on both estimation accuracy, latency, and robustness, and is rated by 31 participants as producing better renderings for most virtual objects. For example, CleAR achieves 51% to 56% accuracy improvement on virtual object renderings across objects of three distinctive types of materials and reflective properties. CleAR produces lighting estimates of comparable or better quality in just 3.2 seconds -- over 110X faster than state-of-the-art methods.
Provably Transformers Harness Multi-Concept Word Semantics for Efficient In-Context Learning
Venue: arXiv cs.LG 2025
Year: 2025

Transformer-based large language models (LLMs) have displayed remarkable creative prowess and emergence capabilities. Existing empirical studies have revealed a strong connection between these LLMs' impressive emergence abilities and their in-context learning (ICL) capacity, allowing them to solve new tasks using only task-specific prompts without further fine-tuning. On the other hand, existing empirical and theoretical studies also show that there is a linear regularity of the multi-concept encoded semantic representation behind transformer-based LLMs. However, existing theoretical work fail to build up an understanding of the connection between this regularity and the innovative power of ICL. Additionally, prior work often focuses on simplified, unrealistic scenarios involving linear transformers or unrealistic loss functions, and they achieve only linear or sub-linear convergence rates. In contrast, this work provides a fine-grained mathematical analysis to show how transformers leverage the multi-concept semantics of words to enable powerful ICL and excellent out-of-distribution ICL abilities, offering insights into how transformers innovate solutions for certain unseen tasks encoded with multiple cross-concept semantics. Inspired by empirical studies on the linear latent geometry of LLMs, the analysis is based on a concept-based low-noise sparse coding prompt model. Leveraging advanced techniques, this work showcases the exponential 0-1 loss convergence over the highly non-convex training dynamics, which pioneeringly incorporates the challenges of softmax self-attention, ReLU-activated MLPs, and cross-entropy loss. Empirical simulations corroborate the theoretical findings.
Data Matters: The Case of Predicting Mobile Cellular Traffic
Venue: arXiv cs.NI 2025
Year: 2025

Accurate predictions of base stations' traffic load are essential to mobile cellular operators and their users as they support the efficient use of network resources and allow delivery of services that sustain smart cities and roads. Traditionally, cellular network time-series have been considered for this prediction task. More recently, exogenous factors such as points of interest and other environmental knowledge have been explored too. In contrast to incorporating external factors, we propose to learn the processes underlying cellular load generation by employing population dynamics data. In this study, we focus on smart roads and use road traffic measures to improve prediction accuracy. Comprehensive experiments demonstrate that by employing road flow and speed, in addition to cellular network metrics, base station load prediction errors can be substantially reduced, by as much as $56.5\%.$ The code, visualizations and extensive results are available on https://github.com/nvassileva/DataMatters.
Dataset resulting from the user study on comprehensibility of explainable AI algorithms
Venue: arXiv cs.CY 2025
Year: 2025

This paper introduces a dataset that is the result of a user study on the comprehensibility of explainable artificial intelligence (XAI) algorithms. The study participants were recruited from 149 candidates to form three groups representing experts in the domain of mycology (DE), students with a data science and visualization background (IT) and students from social sciences and humanities (SSH). The main part of the dataset contains 39 transcripts of interviews during which participants were asked to complete a series of tasks and questions related to the interpretation of explanations of decisions of a machine learning model trained to distinguish between edible and inedible mushrooms. The transcripts were complemented with additional data that includes visualizations of explanations presented to the user, results from thematic analysis, recommendations of improvements of explanations provided by the participants, and the initial survey results that allow to determine the domain knowledge of the participant and data analysis literacy. The transcripts were manually tagged to allow for automatic matching between the text and other data related to particular fragments. In the advent of the area of rapid development of XAI techniques, the need for a multidisciplinary qualitative evaluation of explainability is one of the emerging topics in the community. Our dataset allows not only to reproduce the study we conducted, but also to open a wide range of possibilities for the analysis of the material we gathered.
Cross-D Conv: Cross-Dimensional Transferable Knowledge Base via Fourier Shifting Operation
Venue: arXiv cs.CV 2025
Year: 2025

In biomedical imaging analysis, the dichotomy between 2D and 3D data presents a significant challenge. While 3D volumes offer superior real-world applicability, they are less available for each modality and not easy to train in large scale, whereas 2D samples are abundant but less comprehensive. This paper introduces Cross-D Conv operation, a novel approach that bridges the dimensional gap by learning the phase shifting in the Fourier domain. Our method enables seamless weight transfer between 2D and 3D convolution operations, effectively facilitating cross-dimensional learning. The proposed architecture leverages the abundance of 2D training data to enhance 3D model performance, offering a practical solution to the multimodal data scarcity challenge in 3D medical model pretraining. Experimental validation on the RadImagenet (2D) and multimodal volumetric sets demonstrates that our approach achieves comparable or superior performance in feature quality assessment. The enhanced convolution operation presents new opportunities for developing efficient classification and segmentation models in medical imaging. This work represents an advancement in cross-dimensional and multimodal medical image analysis, offering a robust framework for utilizing 2D priors in 3D model pretraining while maintaining computational efficiency of 2D training. The code is available on https://github.com/convergedmachine/Cross-D-Conv.
Rate, Explain and Cite (REC): Enhanced Explanation and Attribution in Automatic Evaluation by Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

LLMs have demonstrated impressive proficiency in generating coherent and high-quality text, making them valuable across a range of text-generation tasks. However, rigorous evaluation of this generated content is crucial, as ensuring its quality remains a significant challenge due to persistent issues such as factual inaccuracies and hallucination. This paper introduces three fine-tuned general-purpose LLM autoevaluators, REC-8B, REC-12B and REC-70B, specifically designed to evaluate generated text across several dimensions: faithfulness, instruction following, coherence, and completeness. These models not only provide ratings for these metrics but also offer detailed explanation and verifiable citation, thereby enhancing trust in the content. Moreover, the models support various citation modes, accommodating different requirements for latency and granularity. Extensive evaluations on diverse benchmarks demonstrate that our general-purpose LLM auto-evaluator, REC-70B, outperforms state-of-the-art LLMs, excelling in content evaluation by delivering better quality explanation and citation with minimal bias. Our REC dataset and models are available at https://github.com/adelaidehsu/REC.
Dr. SoW: Density Ratio of Strong-over-weak LLMs for Reducing the Cost of Human Annotation in Preference Tuning
Venue: arXiv cs.CL 2025
Year: 2025

Preference tuning relies on high-quality human preference data, which is often expensive and time-consuming to gather. In this paper, we introduce Dr.SoW (Density Ratio of Strong over Weak) a cost-effective method that eliminates the reliance for human annotation by leveraging off-the-shelf LLMs for preference data annotation. Dr.SoW uses the log-density ratio between a better-aligned and a less-aligned LLM as a reward signal. We evaluate Dr.SoW across 221 different LLM pairs and empirically find a strong correlation between the performance gap of the paired models and the quality of the reward signal. This insight provides a practical guideline for selecting LLMs for data annotation. Additionally, we introduce an end-to-end pipeline that customizes reward functions based on user query domains. Without fine-tuning, it improves accuracy on domain-specific evaluations. With a pair of Mistral-7B models, Dr.SoW achieves a RewardBench score of 82.6, outperforming the best trained reward functions from same model class and demonstrating competitive performance against SoTA models in Safety (91.0) and Reasoning (88.0) domains. Further, we preference-tune Llama-3-8B-Instruct using data annotated by Dr.SoW. Our approach pushes Llama-3-8B to achieve a 37.4 % (+15.1 %) win rate on ArenaHard and a 40.7 % (+17.8 %) win rate on length-controlled AlpacaEval 2.0.
SSFold: Learning to Fold Arbitrary Crumpled Cloth Using Graph Dynamics from Human Demonstration
Venue: arXiv cs.RO 2025
Year: 2025

Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on simulations, often failing to bridge the significant sim-to-real gap in deformable object manipulation. To overcome these challenges, we propose a two-stream architecture with sequential and spatial pathways, unifying smoothing and folding tasks into a single adaptable policy model that accommodates various cloth types and states. The sequential stream determines the pick and place positions for the cloth, while the spatial stream, using a connectivity dynamics model, constructs a visibility graph from partial point cloud data of the self-occluded cloth, allowing the robot to infer the cloth's full configuration from incomplete observations. To bridge the sim-to-real gap, we utilize a hand tracking detection algorithm to gather and integrate human demonstration data into our novel end-to-end neural network, improving real-world adaptability. Our method, validated on a UR5 robot across four distinct cloth folding tasks with different goal shapes, consistently achieves folded states from arbitrary crumpled initial configurations, with success rates of 99\%, 99\%, 83\%, and 67\%. It outperforms existing state-of-the-art cloth manipulation techniques and demonstrates strong generalization to unseen cloth with diverse colors, shapes, and stiffness in real-world experiments.Videos and source code are available at: https://zcswdt.github.io/SSFold/
When to Localize? A Risk-Constrained Reinforcement Learning Approach
Venue: arXiv cs.RO 2025
Year: 2025

In a standard navigation pipeline, a robot localizes at every time step to lower navigational errors. However, in some scenarios, a robot needs to selectively localize when it is expensive to obtain observations. For example, an underwater robot surfacing to localize too often hinders it from searching for critical items underwater, such as black boxes from crashed aircraft. On the other hand, if the robot never localizes, poor state estimates cause failure to find the items due to inadvertently leaving the search area or entering hazardous, restricted areas. Motivated by these scenarios, we investigate approaches to help a robot determine "when to localize?" We formulate this as a bi-criteria optimization problem: minimize the number of localization actions while ensuring the probability of failure (due to collision or not reaching a desired goal) remains bounded. In recent work, we showed how to formulate this active localization problem as a constrained Partially Observable Markov Decision Process (POMDP), which was solved using an online POMDP solver. However, this approach is too slow and requires full knowledge of the robot transition and observation models. In this paper, we present RiskRL, a constrained Reinforcement Learning (RL) framework that overcomes these limitations. RiskRL uses particle filtering and recurrent Soft Actor-Critic network to learn a policy that minimizes the number of localizations while ensuring the probability of failure constraint is met. Our numerical experiments show that RiskRL learns a robust policy that leads to at least a 26% increase in success rates when traversing unseen test environments.
Sparse Orthogonal Parameters Tuning for Continual Learning
Venue: arXiv cs.LG 2025
Year: 2025

Continual learning methods based on pre-trained models (PTM) have recently gained attention which adapt to successive downstream tasks without catastrophic forgetting. These methods typically refrain from updating the pre-trained parameters and instead employ additional adapters, prompts, and classifiers. In this paper, we from a novel perspective investigate the benefit of sparse orthogonal parameters for continual learning. We found that merging sparse orthogonality of models learned from multiple streaming tasks has great potential in addressing catastrophic forgetting. Leveraging this insight, we propose a novel yet effective method called SoTU (Sparse Orthogonal Parameters TUning). We hypothesize that the effectiveness of SoTU lies in the transformation of knowledge learned from multiple domains into the fusion of orthogonal delta parameters. Experimental evaluations on diverse CL benchmarks demonstrate the effectiveness of the proposed approach. Notably, SoTU achieves optimal feature representation for streaming data without necessitating complex classifier designs, making it a Plug-and-Play solution.
The Hitchhiker's Guide to Programming and Optimizing Cache Coherent Heterogeneous Systems: CXL, NVLink-C2C, and AMD Infinity Fabric
Venue: arXiv cs.PF 2025
Year: 2025

We present a thorough analysis of the use of modern heterogeneous systems interconnected by various cachecoherent links, including CXL, NVLink-C2C, and Infinity Fabric. We studied a wide range of server systems that combined CPUs from different vendors and various types of coherent memory devices, including CXL memory expander, CXL pool, CXL shared memory, GH200 GPU, and AMD MI300a HBM. For this study, we developed a heterogeneous memory benchmark suite, Heimdall, to profile the performance of such heterogeneous systems and present a detailed performance comparison across systems. By leveraging H E I M DA L L , we unveiled the detailed architecture design in these systems, drew observations on optimizing performance for workloads, and pointed out directions for future development of cache coherent heterogeneous systems.
Max-Distance Sparsification for Diversification and Clustering
Venue: arXiv cs.DS 2025
Year: 2025

Let $\mathcal{D}$ be a set family that is the solution domain of some combinatorial problem. The \emph{max-min diversification problem on $\mathcal{D}$} is the problem to select $k$ sets from $\mathcal{D}$ such that the Hamming distance between any two selected sets is at least $d$. FPT algorithms parameterized by $k+\ell $, where $\ell=\max_{D\in \mathcal{D}}|D|$, and $k+d$ have been actively studied recently for several specific domains. This paper provides unified algorithmic frameworks to solve this problem. Specifically, for each parameterization $k+\ell $ and $k+d$, we provide an FPT oracle algorithm for the max-min diversification problem using oracles related to $\mathcal{D}$. We then demonstrate that our frameworks provide the first FPT algorithms on several new domains $\mathcal{D}$, including the domain of $t$-linear matroid intersection, almost $2$-SAT, minimum edge $s,t$-flows, vertex sets of $s,t$-mincut, vertex sets of edge bipartization, and Steiner trees. We also demonstrate that our frameworks generalize most of the existing domain-specific tractability results. Our main technical breakthrough is introducing the notion of \emph{max-distance sparsifier} of $\mathcal{D}$, a domain on which the max-min diversification problem is equivalent to the same problem on the original domain $\mathcal{D}$. The core of our framework is to design FPT oracle algorithms that construct a constant-size max-distance sparsifier of $\mathcal{D}$. Using max-distance sparsifiers, we provide FPT algorithms for the max-min and max-sum diversification problems on $\mathcal{D}$, as well as $k$-center and $k$-sum-of-radii clustering problems on $\mathcal{D}$, which are also natural problems in the context of diversification and have their own interests.
Testing Generalizability in Causal Inference
Venue: arXiv cs.LG 2025
Year: 2025

Ensuring robust model performance in diverse real-world scenarios requires addressing generalizability across domains with covariate shifts. However, no formal procedure exists for statistically evaluating generalizability in machine learning algorithms. Existing predictive metrics like mean squared error (MSE) help to quantify the relative performance between models, but do not directly answer whether a model can or cannot generalize. To address this gap in the domain of causal inference, we propose a systematic framework for statistically evaluating the generalizability of high-dimensional causal inference models. Our approach uses the frugal parameterization to flexibly simulate from fully and semi-synthetic causal benchmarks, offering a comprehensive evaluation for both mean and distributional regression methods. Grounded in real-world data, our method ensures more realistic evaluations, which is often missing in current work relying on simplified datasets. Furthermore, using simulations and statistical testing, our framework is robust and avoids over-reliance on conventional metrics, providing statistical safeguards for decision making.
On Improved Conditioning Mechanisms and Pre-training Strategies for Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Large-scale training of latent diffusion models (LDMs) has enabled unprecedented quality in image generation. However, the key components of the best performing LDM training recipes are oftentimes not available to the research community, preventing apple-to-apple comparisons and hindering the validation of progress in the field. In this work, we perform an in-depth study of LDM training recipes focusing on the performance of models and their training efficiency. To ensure apple-to-apple comparisons, we re-implement five previously published models with their corresponding recipes. Through our study, we explore the effects of (i)~the mechanisms used to condition the generative model on semantic information (e.g., text prompt) and control metadata (e.g., crop size, random flip flag, etc.) on the model performance, and (ii)~the transfer of the representations learned on smaller and lower-resolution datasets to larger ones on the training efficiency and model performance. We then propose a novel conditioning mechanism that disentangles semantic and control metadata conditionings and sets a new state-of-the-art in class-conditional generation on the ImageNet-1k dataset -- with FID improvements of 7% on 256 and 8% on 512 resolutions -- as well as text-to-image generation on the CC12M dataset -- with FID improvements of 8% on 256 and 23% on 512 resolution.